@BOOK{s.garrido2007mobilerobotics;perception,
CHAPTER = {Sensor-based Global Planning for Mobile Manipulators Navigation using Voronoi Diagram and Fast Marching. http://www.intechopen.com/download/pdf/pdfs_id/150},
TITLE = {Mobile Robotics; Perception & Navigation},
PUBLISHER = {Advanced Robotic Systems International & Pro Verlag},
ISBN = {3-86611-283-1},
CITY = {},
PAGES = {479 - 496},
YEAR = {2007},
AUTHOR = {S. Garrido, D. Blanco, M. Abderrahim, L. Moreno}
}